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<div class="title">voxel_grid_covariance.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_VOXEL_GRID_COVARIANCE_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_VOXEL_GRID_COVARIANCE_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/boost.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/voxel_grid.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;map&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/kdtree/kdtree_flann.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_covariance.html">   57</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_voxel_grid_covariance.html">VoxelGridCovariance</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_voxel_grid.html">VoxelGrid</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  {</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_voxel_grid.html">VoxelGrid&lt;PointT&gt;::filter_name_</a>;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_voxel_grid.html">VoxelGrid&lt;PointT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_voxel_grid.html">VoxelGrid&lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_voxel_grid.html">VoxelGrid&lt;PointT&gt;::indices_</a>;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_voxel_grid.html">VoxelGrid&lt;PointT&gt;::filter_limit_negative_</a>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_voxel_grid.html">VoxelGrid&lt;PointT&gt;::filter_limit_min_</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_voxel_grid.html">VoxelGrid&lt;PointT&gt;::filter_limit_max_</a>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_voxel_grid.html">VoxelGrid&lt;PointT&gt;::filter_field_name_</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_voxel_grid.html">VoxelGrid&lt;PointT&gt;::downsample_all_data_</a>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_voxel_grid.html">VoxelGrid&lt;PointT&gt;::leaf_layout_</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_voxel_grid.html">VoxelGrid&lt;PointT&gt;::save_leaf_layout_</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_voxel_grid.html">VoxelGrid&lt;PointT&gt;::leaf_size_</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_voxel_grid.html">VoxelGrid&lt;PointT&gt;::min_b_</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_voxel_grid.html">VoxelGrid&lt;PointT&gt;::max_b_</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_voxel_grid.html">VoxelGrid&lt;PointT&gt;::inverse_leaf_size_</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_voxel_grid.html">VoxelGrid&lt;PointT&gt;::div_b_</a>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_voxel_grid.html">VoxelGrid&lt;PointT&gt;::divb_mul_</a>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList&lt;PointT&gt;::type</a> FieldList;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Filter&lt;PointT&gt;::PointCloud</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; VoxelGrid&lt;PointT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; const VoxelGrid&lt;PointT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html">   93</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html">Leaf</a></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      {</div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a886049061b877300a4fab9f1b618319c">   98</a></span>&#160;        <a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a886049061b877300a4fab9f1b618319c">Leaf</a> () :</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;          <a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a249ed9fec9f58d966fc92b6b430f92a4">nr_points</a> (0),</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;          <a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a449f5f30f9c5688cd353968672a33967">mean_</a> (Eigen::Vector3d::Zero ()),</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;          <a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a7163de36e5c92f581b2679e5de2ccf9f">centroid</a> (),</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;          <a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#adbd892d56494c005fc5ab845a09ddca1">cov_</a> (Eigen::Matrix3d::Identity ()),</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;          <a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a4eb7363a5ffdea8d03d0ecb29e8f38c6">icov_</a> (Eigen::Matrix3d::Zero ()),</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;          <a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#af80a8459da43812adf10cfba4c5293ed">evecs_</a> (Eigen::Matrix3d::Identity ()),</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;          <a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a8befc2802cce61b05fa4f79f31374b70">evals_</a> (Eigen::Vector3d::Zero ())</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        {</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        }</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        Eigen::Matrix3d</div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a54f413027a70f6c6b5b9fee11491cb8f">  113</a></span>&#160;        <a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a54f413027a70f6c6b5b9fee11491cb8f">getCov</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#adbd892d56494c005fc5ab845a09ddca1">cov_</a>);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        }</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        Eigen::Matrix3d</div>
<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a739478612c073535800e0fed394a15a3">  122</a></span>&#160;        <a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a739478612c073535800e0fed394a15a3">getInverseCov</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a4eb7363a5ffdea8d03d0ecb29e8f38c6">icov_</a>);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        }</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        Eigen::Vector3d</div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#aa05a0541f45e19383c94d70df692cf7c">  131</a></span>&#160;        <a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#aa05a0541f45e19383c94d70df692cf7c">getMean</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a449f5f30f9c5688cd353968672a33967">mean_</a>);</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        Eigen::Matrix3d</div>
<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a1d375e78ecc706179302f4571f72cf5e">  141</a></span>&#160;        <a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a1d375e78ecc706179302f4571f72cf5e">getEvecs</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#af80a8459da43812adf10cfba4c5293ed">evecs_</a>);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        }</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        Eigen::Vector3d</div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a5c67f1eb21eec13603ff961f8aaf33c2">  151</a></span>&#160;        <a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a5c67f1eb21eec13603ff961f8aaf33c2">getEvals</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a8befc2802cce61b05fa4f79f31374b70">evals_</a>);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        }</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00160"></a><span class="lineno"><a class="line" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#ac67ae7009095cfccd297f21196e1b417">  160</a></span>&#160;        <a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#ac67ae7009095cfccd297f21196e1b417">getPointCount</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a249ed9fec9f58d966fc92b6b430f92a4">nr_points</a>);</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        }</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a249ed9fec9f58d966fc92b6b430f92a4">  166</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a249ed9fec9f58d966fc92b6b430f92a4">nr_points</a>;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a449f5f30f9c5688cd353968672a33967">  169</a></span>&#160;        Eigen::Vector3d <a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a449f5f30f9c5688cd353968672a33967">mean_</a>;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a7163de36e5c92f581b2679e5de2ccf9f">  174</a></span>&#160;        Eigen::VectorXf <a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a7163de36e5c92f581b2679e5de2ccf9f">centroid</a>;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#adbd892d56494c005fc5ab845a09ddca1">  177</a></span>&#160;        Eigen::Matrix3d <a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#adbd892d56494c005fc5ab845a09ddca1">cov_</a>;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a4eb7363a5ffdea8d03d0ecb29e8f38c6">  180</a></span>&#160;        Eigen::Matrix3d <a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a4eb7363a5ffdea8d03d0ecb29e8f38c6">icov_</a>;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#af80a8459da43812adf10cfba4c5293ed">  183</a></span>&#160;        Eigen::Matrix3d <a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#af80a8459da43812adf10cfba4c5293ed">evecs_</a>;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a8befc2802cce61b05fa4f79f31374b70">  186</a></span>&#160;        Eigen::Vector3d <a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a8befc2802cce61b05fa4f79f31374b70">evals_</a>;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      };</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_covariance.html#ab0bd38d342ecd82dac27f97e109ddf0a">  191</a></span>&#160;      <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html">Leaf</a>* <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ab0bd38d342ecd82dac27f97e109ddf0a">LeafPtr</a>;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">  194</a></span>&#160;      <span class="keyword">typedef</span> <span class="keyword">const</span> <a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html">Leaf</a>* <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">LeafConstPtr</a>;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_covariance.html#abf48747b6e9e08d0c4d6e8a58e1d4626">  201</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#abf48747b6e9e08d0c4d6e8a58e1d4626">VoxelGridCovariance</a> () :</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a709ed82c98db5808339c0a2ee7f8506d">searchable_</a> (true),</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a2c8c7f9e031324133226e97af247ecae">min_points_per_voxel_</a> (6),</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a78fec26d820ccd1999d326878adcf216">min_covar_eigvalue_mult_</a> (0.01),</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a> (),</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a47e3520b0631c9d8897717eddb9e8900">voxel_centroids_</a> (),</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#acabc11ab782a3426a9e5bb80c31ca898">voxel_centroids_leaf_indices_</a> (),</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a7f030fa636b18e46a77046923024242e">kdtree_</a> ()</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      {</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid.html#a1789763b2f3b17cce937b9902cfb6175">downsample_all_data_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid.html#a73e0f889875e09c1990ec088af6c82c4">save_leaf_layout_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>.setZero ();</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>.setZero ();</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        max_b_.setZero ();</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        <a class="code" href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">filter_name_</a> = <span class="stringliteral">&quot;VoxelGridCovariance&quot;</span>;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      }</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00222"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_covariance.html#a50572b27b4087e87dfc1087795210f3c">  222</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a50572b27b4087e87dfc1087795210f3c">setMinPointPerVoxel</a> (<span class="keywordtype">int</span> min_points_per_voxel)</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      {</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        <span class="keywordflow">if</span>(min_points_per_voxel &gt; 2)</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        {</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;          <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a2c8c7f9e031324133226e97af247ecae">min_points_per_voxel_</a> = min_points_per_voxel;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        }</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        {</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;          PCL_WARN (<span class="stringliteral">&quot;%s: Covariance calculation requires at least 3 points, setting Min Point per Voxel to 3 &quot;</span>, this-&gt;<a class="code" href="classpcl_1_1_filter.html#a71040236d2c11da75b715d6d6bf5ba9d">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;          <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a2c8c7f9e031324133226e97af247ecae">min_points_per_voxel_</a> = 3;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        }</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      }</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00239"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_covariance.html#ac1af39542299266ef3cf8a1d1ca4ea4b">  239</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ac1af39542299266ef3cf8a1d1ca4ea4b">getMinPointPerVoxel</a> ()</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      {</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a2c8c7f9e031324133226e97af247ecae">min_points_per_voxel_</a>;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      }</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00248"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_covariance.html#ac037ac44ecd562b521de4f90621830fe">  248</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ac037ac44ecd562b521de4f90621830fe">setCovEigValueInflationRatio</a> (<span class="keywordtype">double</span> min_covar_eigvalue_mult)</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      {</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a78fec26d820ccd1999d326878adcf216">min_covar_eigvalue_mult_</a> = min_covar_eigvalue_mult;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      }</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00257"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_covariance.html#a17fa62e127bacf0f286a49cafd3bfc65">  257</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a17fa62e127bacf0f286a49cafd3bfc65">getCovEigValueInflationRatio</a> ()</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      {</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a78fec26d820ccd1999d326878adcf216">min_covar_eigvalue_mult_</a>;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      }</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160; </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00267"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_covariance.html#a6612d6ae521e766fee6a4e2bf833f643">  267</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a6612d6ae521e766fee6a4e2bf833f643">filter</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output, <span class="keywordtype">bool</span> searchable = <span class="keyword">false</span>)</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      {</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a709ed82c98db5808339c0a2ee7f8506d">searchable_</a> = searchable;</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a1a4a22ba39ce7c83f76d7f31c292733c">applyFilter</a> (output);</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a47e3520b0631c9d8897717eddb9e8900">voxel_centroids_</a> = PointCloudPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> (output));</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a709ed82c98db5808339c0a2ee7f8506d">searchable_</a> &amp;&amp; <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a47e3520b0631c9d8897717eddb9e8900">voxel_centroids_</a>-&gt;size() &gt; 0)</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;        {</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;          <span class="comment">// Initiates kdtree of the centroids of voxels containing a sufficient number of points</span></div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;          <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a7f030fa636b18e46a77046923024242e">kdtree_</a>.setInputCloud (<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a47e3520b0631c9d8897717eddb9e8900">voxel_centroids_</a>);</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;        }</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;      }</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00285"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_covariance.html#aa804ee4e6a37ae37316802ffc88da8c5">  285</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#aa804ee4e6a37ae37316802ffc88da8c5">filter</a> (<span class="keywordtype">bool</span> searchable = <span class="keyword">false</span>)</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;      {</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a709ed82c98db5808339c0a2ee7f8506d">searchable_</a> = searchable;</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a47e3520b0631c9d8897717eddb9e8900">voxel_centroids_</a> = PointCloudPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>);</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;        <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a1a4a22ba39ce7c83f76d7f31c292733c">applyFilter</a> (*<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a47e3520b0631c9d8897717eddb9e8900">voxel_centroids_</a>);</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a709ed82c98db5808339c0a2ee7f8506d">searchable_</a> &amp;&amp; <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a47e3520b0631c9d8897717eddb9e8900">voxel_centroids_</a>-&gt;size() &gt; 0)</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;        {</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;          <span class="comment">// Initiates kdtree of the centroids of voxels containing a sufficient number of points</span></div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;          <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a7f030fa636b18e46a77046923024242e">kdtree_</a>.setInputCloud (<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a47e3520b0631c9d8897717eddb9e8900">voxel_centroids_</a>);</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;        }</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;      }</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160; </div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      <span class="keyword">inline</span> <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">LeafConstPtr</a></div>
<div class="line"><a name="l00303"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_covariance.html#a28f61978dec5e19460f3797d21246516">  303</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a28f61978dec5e19460f3797d21246516">getLeaf</a> (<span class="keywordtype">int</span> index)</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;      {</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;        <span class="keyword">typename</span> std::map&lt;size_t, Leaf&gt;::iterator leaf_iter = <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>.find (index);</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;        <span class="keywordflow">if</span> (leaf_iter != <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>.end ())</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;        {</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;          <a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html">LeafConstPtr</a> ret (&amp;(leaf_iter-&gt;second));</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;          <span class="keywordflow">return</span> ret;</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;        }</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;          <span class="keywordflow">return</span> NULL;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;      }</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160; </div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;      <span class="keyword">inline</span> <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">LeafConstPtr</a></div>
<div class="line"><a name="l00320"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_covariance.html#affd4b96b7686ed76c1325aa059cf692f">  320</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#affd4b96b7686ed76c1325aa059cf692f">getLeaf</a> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;p)</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;      {</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;        <span class="comment">// Generate index associated with p</span></div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;        <span class="keywordtype">int</span> ijk0 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (p.x * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[0]) - <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[0]);</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;        <span class="keywordtype">int</span> ijk1 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (p.y * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[1]) - <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[1]);</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;        <span class="keywordtype">int</span> ijk2 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (p.z * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[2]) - <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[2]);</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160; </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;        <span class="comment">// Compute the centroid leaf index</span></div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;        <span class="keywordtype">int</span> idx = ijk0 * divb_mul_[0] + ijk1 * divb_mul_[1] + ijk2 * divb_mul_[2];</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160; </div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;        <span class="comment">// Find leaf associated with index</span></div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;        <span class="keyword">typename</span> std::map&lt;size_t, Leaf&gt;::iterator leaf_iter = <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>.find (idx);</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;        <span class="keywordflow">if</span> (leaf_iter != <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>.end ())</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;        {</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;          <span class="comment">// If such a leaf exists return the pointer to the leaf structure</span></div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;          <a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html">LeafConstPtr</a> ret (&amp;(leaf_iter-&gt;second));</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;          <span class="keywordflow">return</span> ret;</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;        }</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;          <span class="keywordflow">return</span> NULL;</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;      }</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160; </div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;      <span class="keyword">inline</span> <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">LeafConstPtr</a></div>
<div class="line"><a name="l00347"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_covariance.html#a601a5a50e9f9f4f5f5901fc4cd3302f7">  347</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a601a5a50e9f9f4f5f5901fc4cd3302f7">getLeaf</a> (Eigen::Vector3f &amp;p)</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;      {</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;        <span class="comment">// Generate index associated with p</span></div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;        <span class="keywordtype">int</span> ijk0 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (p[0] * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[0]) - <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[0]);</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;        <span class="keywordtype">int</span> ijk1 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (p[1] * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[1]) - <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[1]);</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;        <span class="keywordtype">int</span> ijk2 = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (p[2] * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[2]) - <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[2]);</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160; </div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;        <span class="comment">// Compute the centroid leaf index</span></div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;        <span class="keywordtype">int</span> idx = ijk0 * divb_mul_[0] + ijk1 * divb_mul_[1] + ijk2 * divb_mul_[2];</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160; </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;        <span class="comment">// Find leaf associated with index</span></div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;        <span class="keyword">typename</span> std::map&lt;size_t, Leaf&gt;::iterator leaf_iter = <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>.find (idx);</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;        <span class="keywordflow">if</span> (leaf_iter != <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>.end ())</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;        {</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;          <span class="comment">// If such a leaf exists return the pointer to the leaf structure</span></div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;          <a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html">LeafConstPtr</a> ret (&amp;(leaf_iter-&gt;second));</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;          <span class="keywordflow">return</span> ret;</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;        }</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;          <span class="keywordflow">return</span> NULL;</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160; </div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      }</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160; </div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ab24846085f7bd621a6edf415b0226679">getNeighborhoodAtPoint</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; reference_point, std::vector&lt;LeafConstPtr&gt; &amp;neighbors);</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160; </div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> std::map&lt;size_t, Leaf&gt;&amp;</div>
<div class="line"><a name="l00383"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_covariance.html#aba599d866b3289dd51e2618e71d889a0">  383</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#aba599d866b3289dd51e2618e71d889a0">getLeaves</a> ()</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;      {</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>;</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;      }</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160; </div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;      <span class="keyword">inline</span> PointCloudPtr</div>
<div class="line"><a name="l00393"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_covariance.html#ad940a60fb5c83b07869808c297cebab2">  393</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ad940a60fb5c83b07869808c297cebab2">getCentroids</a> ()</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;      {</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a47e3520b0631c9d8897717eddb9e8900">voxel_centroids_</a>;</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;      }</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160; </div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160; </div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#accf21aea709481f32a3ab000efde490f">getDisplayCloud</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointXYZ&gt;</a>&amp; cell_cloud);</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160; </div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00414"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_covariance.html#a934c7720a7e95ad391af73691fc944b5">  414</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a934c7720a7e95ad391af73691fc944b5">nearestKSearch</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point, <span class="keywordtype">int</span> k,</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;                      std::vector&lt;LeafConstPtr&gt; &amp;k_leaves, std::vector&lt;float&gt; &amp;k_sqr_distances)</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;      {</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;        k_leaves.clear ();</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160; </div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;        <span class="comment">// Check if kdtree has been built</span></div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;        <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a709ed82c98db5808339c0a2ee7f8506d">searchable_</a>)</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;        {</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;          PCL_WARN (<span class="stringliteral">&quot;%s: Not Searchable&quot;</span>, this-&gt;<a class="code" href="classpcl_1_1_filter.html#a71040236d2c11da75b715d6d6bf5ba9d">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;          <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;        }</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160; </div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;        <span class="comment">// Find k-nearest neighbors in the occupied voxel centroid cloud</span></div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;        std::vector&lt;int&gt; k_indices;</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;        k = <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a7f030fa636b18e46a77046923024242e">kdtree_</a>.nearestKSearch (point, k, k_indices, k_sqr_distances);</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160; </div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;        <span class="comment">// Find leaves corresponding to neighbors</span></div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;        k_leaves.reserve (k);</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;        <span class="keywordflow">for</span> (std::vector&lt;int&gt;::iterator iter = k_indices.begin (); iter != k_indices.end (); iter++)</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;        {</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;          k_leaves.push_back (&amp;<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>[<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#acabc11ab782a3426a9e5bb80c31ca898">voxel_centroids_leaf_indices_</a>[*iter]]);</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;        }</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;        <span class="keywordflow">return</span> k;</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;      }</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160; </div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00449"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_covariance.html#a34fef3799cca9e6bac062d1df4d53a5f">  449</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a34fef3799cca9e6bac062d1df4d53a5f">nearestKSearch</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud, <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> k,</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;                      std::vector&lt;LeafConstPtr&gt; &amp;k_leaves, std::vector&lt;float&gt; &amp;k_sqr_distances)</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;      {</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;        <span class="keywordflow">if</span> (index &gt;= <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ()) || index &lt; 0)</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;          <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a934c7720a7e95ad391af73691fc944b5">nearestKSearch</a> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index], k, k_leaves, k_sqr_distances));</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;      }</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160; </div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160; </div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00468"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_covariance.html#a5d605050ddda36d46f286a10469e26c1">  468</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a5d605050ddda36d46f286a10469e26c1">radiusSearch</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point, <span class="keywordtype">double</span> radius, std::vector&lt;LeafConstPtr&gt; &amp;k_leaves,</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;                    std::vector&lt;float&gt; &amp;k_sqr_distances, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn = 0)</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;      {</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;        k_leaves.clear ();</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160; </div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;        <span class="comment">// Check if kdtree has been built</span></div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;        <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a709ed82c98db5808339c0a2ee7f8506d">searchable_</a>)</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;        {</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;          PCL_WARN (<span class="stringliteral">&quot;%s: Not Searchable&quot;</span>, this-&gt;<a class="code" href="classpcl_1_1_filter.html#a71040236d2c11da75b715d6d6bf5ba9d">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;          <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;        }</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160; </div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;        <span class="comment">// Find neighbors within radius in the occupied voxel centroid cloud</span></div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;        std::vector&lt;int&gt; k_indices;</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;        <span class="keywordtype">int</span> k = <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a7f030fa636b18e46a77046923024242e">kdtree_</a>.radiusSearch (point, radius, k_indices, k_sqr_distances, max_nn);</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160; </div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;        <span class="comment">// Find leaves corresponding to neighbors</span></div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;        k_leaves.reserve (k);</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;        <span class="keywordflow">for</span> (std::vector&lt;int&gt;::iterator iter = k_indices.begin (); iter != k_indices.end (); iter++)</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;        {</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;          k_leaves.push_back (&amp;<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>[<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#acabc11ab782a3426a9e5bb80c31ca898">voxel_centroids_leaf_indices_</a>[*iter]]);</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;        }</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;        <span class="keywordflow">return</span> k;</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;      }</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160; </div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00504"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_covariance.html#a6be928c24b72e60e272a755c91ddcf62">  504</a></span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a6be928c24b72e60e272a755c91ddcf62">radiusSearch</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud, <span class="keywordtype">int</span> index, <span class="keywordtype">double</span> radius,</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;                    std::vector&lt;LeafConstPtr&gt; &amp;k_leaves, std::vector&lt;float&gt; &amp;k_sqr_distances,</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;                    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn = 0)</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;      {</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;        <span class="keywordflow">if</span> (index &gt;= <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ()) || index &lt; 0)</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;          <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a5d605050ddda36d46f286a10469e26c1">radiusSearch</a> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index], radius, k_leaves, k_sqr_distances, max_nn));</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;      }</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160; </div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160; </div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a1a4a22ba39ce7c83f76d7f31c292733c">applyFilter</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output);</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160; </div>
<div class="line"><a name="l00521"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_covariance.html#a709ed82c98db5808339c0a2ee7f8506d">  521</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a709ed82c98db5808339c0a2ee7f8506d">searchable_</a>;</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160; </div>
<div class="line"><a name="l00524"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_covariance.html#a2c8c7f9e031324133226e97af247ecae">  524</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a2c8c7f9e031324133226e97af247ecae">min_points_per_voxel_</a>;</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160; </div>
<div class="line"><a name="l00527"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_covariance.html#a78fec26d820ccd1999d326878adcf216">  527</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a78fec26d820ccd1999d326878adcf216">min_covar_eigvalue_mult_</a>;</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160; </div>
<div class="line"><a name="l00530"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">  530</a></span>&#160;      std::map&lt;size_t, Leaf&gt; <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">leaves_</a>;</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160; </div>
<div class="line"><a name="l00533"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_covariance.html#a47e3520b0631c9d8897717eddb9e8900">  533</a></span>&#160;      PointCloudPtr <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a47e3520b0631c9d8897717eddb9e8900">voxel_centroids_</a>;</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160; </div>
<div class="line"><a name="l00536"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_covariance.html#acabc11ab782a3426a9e5bb80c31ca898">  536</a></span>&#160;      std::vector&lt;int&gt; <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#acabc11ab782a3426a9e5bb80c31ca898">voxel_centroids_leaf_indices_</a>;</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160; </div>
<div class="line"><a name="l00539"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_covariance.html#a7f030fa636b18e46a77046923024242e">  539</a></span>&#160;      <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html">KdTreeFLANN&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_voxel_grid_covariance.html#a7f030fa636b18e46a77046923024242e">kdtree_</a>;</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;  };</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;}</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160; </div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/impl/voxel_grid_covariance.hpp&gt;</span></div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160; </div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_VOXEL_GRID_COVARIANCE_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_filter_html_a71040236d2c11da75b715d6d6bf5ba9d"><div class="ttname"><a href="classpcl_1_1_filter.html#a71040236d2c11da75b715d6d6bf5ba9d">pcl::Filter::getClassName</a></div><div class="ttdeci">const std::string &amp; getClassName() const</div><div class="ttdoc">Get a string representation of the name of this class.</div><div class="ttdef"><b>Definition:</b> filter.h:182</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_html_ad700c7ab56dc82ad8811b87e9f793751"><div class="ttname"><a href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">pcl::Filter::filter_name_</a></div><div class="ttdeci">std::string filter_name_</div><div class="ttdoc">The filter name.</div><div class="ttdef"><b>Definition:</b> filter.h:166</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html">pcl::KdTreeFLANN</a></div><div class="ttdoc">KdTreeFLANN is a generic type of 3D spatial locator using kD-tree structures. The class is making use...</div><div class="ttdef"><b>Definition:</b> kdtree_flann.h:70</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html">pcl::VoxelGridCovariance</a></div><div class="ttdoc">A searchable voxel strucure containing the mean and covariance of the data.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_a17fa62e127bacf0f286a49cafd3bfc65"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#a17fa62e127bacf0f286a49cafd3bfc65">pcl::VoxelGridCovariance::getCovEigValueInflationRatio</a></div><div class="ttdeci">double getCovEigValueInflationRatio()</div><div class="ttdoc">Get the minimum allowable ratio between eigenvalues to prevent singular covariance matrices.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:257</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_a1a4a22ba39ce7c83f76d7f31c292733c"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#a1a4a22ba39ce7c83f76d7f31c292733c">pcl::VoxelGridCovariance::applyFilter</a></div><div class="ttdeci">void applyFilter(PointCloud &amp;output)</div><div class="ttdoc">Filter cloud and initializes voxel structure.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.hpp:49</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_a28f61978dec5e19460f3797d21246516"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#a28f61978dec5e19460f3797d21246516">pcl::VoxelGridCovariance::getLeaf</a></div><div class="ttdeci">LeafConstPtr getLeaf(int index)</div><div class="ttdoc">Get the voxel containing point p.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:303</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_a2c8c7f9e031324133226e97af247ecae"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#a2c8c7f9e031324133226e97af247ecae">pcl::VoxelGridCovariance::min_points_per_voxel_</a></div><div class="ttdeci">int min_points_per_voxel_</div><div class="ttdoc">Minimum points contained with in a voxel to allow it to be useable.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:524</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_a34fef3799cca9e6bac062d1df4d53a5f"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#a34fef3799cca9e6bac062d1df4d53a5f">pcl::VoxelGridCovariance::nearestKSearch</a></div><div class="ttdeci">int nearestKSearch(const PointCloud &amp;cloud, int index, int k, std::vector&lt; LeafConstPtr &gt; &amp;k_leaves, std::vector&lt; float &gt; &amp;k_sqr_distances)</div><div class="ttdoc">Search for the k-nearest occupied voxels for the given query point.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:449</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_a47e3520b0631c9d8897717eddb9e8900"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#a47e3520b0631c9d8897717eddb9e8900">pcl::VoxelGridCovariance::voxel_centroids_</a></div><div class="ttdeci">PointCloudPtr voxel_centroids_</div><div class="ttdoc">Point cloud containing centroids of voxels containing atleast minimum number of points.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:533</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_a50572b27b4087e87dfc1087795210f3c"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#a50572b27b4087e87dfc1087795210f3c">pcl::VoxelGridCovariance::setMinPointPerVoxel</a></div><div class="ttdeci">void setMinPointPerVoxel(int min_points_per_voxel)</div><div class="ttdoc">Set the minimum number of points required for a cell to be used (must be 3 or greater for covariance ...</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:222</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_a5d605050ddda36d46f286a10469e26c1"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#a5d605050ddda36d46f286a10469e26c1">pcl::VoxelGridCovariance::radiusSearch</a></div><div class="ttdeci">int radiusSearch(const PointT &amp;point, double radius, std::vector&lt; LeafConstPtr &gt; &amp;k_leaves, std::vector&lt; float &gt; &amp;k_sqr_distances, unsigned int max_nn=0)</div><div class="ttdoc">Search for all the nearest occupied voxels of the query point in a given radius.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:468</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_a601a5a50e9f9f4f5f5901fc4cd3302f7"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#a601a5a50e9f9f4f5f5901fc4cd3302f7">pcl::VoxelGridCovariance::getLeaf</a></div><div class="ttdeci">LeafConstPtr getLeaf(Eigen::Vector3f &amp;p)</div><div class="ttdoc">Get the voxel containing point p.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:347</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_a6612d6ae521e766fee6a4e2bf833f643"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#a6612d6ae521e766fee6a4e2bf833f643">pcl::VoxelGridCovariance::filter</a></div><div class="ttdeci">void filter(PointCloud &amp;output, bool searchable=false)</div><div class="ttdoc">Filter cloud and initializes voxel structure.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:267</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_a6be928c24b72e60e272a755c91ddcf62"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#a6be928c24b72e60e272a755c91ddcf62">pcl::VoxelGridCovariance::radiusSearch</a></div><div class="ttdeci">int radiusSearch(const PointCloud &amp;cloud, int index, double radius, std::vector&lt; LeafConstPtr &gt; &amp;k_leaves, std::vector&lt; float &gt; &amp;k_sqr_distances, unsigned int max_nn=0)</div><div class="ttdoc">Search for all the nearest occupied voxels of the query point in a given radius.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:504</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_a709ed82c98db5808339c0a2ee7f8506d"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#a709ed82c98db5808339c0a2ee7f8506d">pcl::VoxelGridCovariance::searchable_</a></div><div class="ttdeci">bool searchable_</div><div class="ttdoc">Flag to determine if voxel structure is searchable.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:521</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_a78fec26d820ccd1999d326878adcf216"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#a78fec26d820ccd1999d326878adcf216">pcl::VoxelGridCovariance::min_covar_eigvalue_mult_</a></div><div class="ttdeci">double min_covar_eigvalue_mult_</div><div class="ttdoc">Minimum allowable ratio between eigenvalues to prevent singular covariance matrices.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:527</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_a7cd5f4e0a702dfd45de8654f1a008c91"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#a7cd5f4e0a702dfd45de8654f1a008c91">pcl::VoxelGridCovariance::LeafConstPtr</a></div><div class="ttdeci">const Leaf * LeafConstPtr</div><div class="ttdoc">Const pointer to VoxelGridCovariance leaf structure</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:194</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_a7f030fa636b18e46a77046923024242e"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#a7f030fa636b18e46a77046923024242e">pcl::VoxelGridCovariance::kdtree_</a></div><div class="ttdeci">KdTreeFLANN&lt; PointT &gt; kdtree_</div><div class="ttdoc">KdTree generated using voxel_centroids_ (used for searching).</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:539</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_a934c7720a7e95ad391af73691fc944b5"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#a934c7720a7e95ad391af73691fc944b5">pcl::VoxelGridCovariance::nearestKSearch</a></div><div class="ttdeci">int nearestKSearch(const PointT &amp;point, int k, std::vector&lt; LeafConstPtr &gt; &amp;k_leaves, std::vector&lt; float &gt; &amp;k_sqr_distances)</div><div class="ttdoc">Search for the k-nearest occupied voxels for the given query point.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:414</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_aa804ee4e6a37ae37316802ffc88da8c5"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#aa804ee4e6a37ae37316802ffc88da8c5">pcl::VoxelGridCovariance::filter</a></div><div class="ttdeci">void filter(bool searchable=false)</div><div class="ttdoc">Initializes voxel structure.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:285</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_ab0bd38d342ecd82dac27f97e109ddf0a"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#ab0bd38d342ecd82dac27f97e109ddf0a">pcl::VoxelGridCovariance::LeafPtr</a></div><div class="ttdeci">Leaf * LeafPtr</div><div class="ttdoc">Pointer to VoxelGridCovariance leaf structure</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_ab24846085f7bd621a6edf415b0226679"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#ab24846085f7bd621a6edf415b0226679">pcl::VoxelGridCovariance::getNeighborhoodAtPoint</a></div><div class="ttdeci">int getNeighborhoodAtPoint(const PointT &amp;reference_point, std::vector&lt; LeafConstPtr &gt; &amp;neighbors)</div><div class="ttdoc">Get the voxels surrounding point p, not including the voxel contating point p.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.hpp:374</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_aba599d866b3289dd51e2618e71d889a0"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#aba599d866b3289dd51e2618e71d889a0">pcl::VoxelGridCovariance::getLeaves</a></div><div class="ttdeci">const std::map&lt; size_t, Leaf &gt; &amp; getLeaves()</div><div class="ttdoc">Get the leaf structure map</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:383</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_abf48747b6e9e08d0c4d6e8a58e1d4626"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#abf48747b6e9e08d0c4d6e8a58e1d4626">pcl::VoxelGridCovariance::VoxelGridCovariance</a></div><div class="ttdeci">VoxelGridCovariance()</div><div class="ttdoc">Constructor. Sets leaf_size_ to 0 and searchable_ to false.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:201</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_ac037ac44ecd562b521de4f90621830fe"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#ac037ac44ecd562b521de4f90621830fe">pcl::VoxelGridCovariance::setCovEigValueInflationRatio</a></div><div class="ttdeci">void setCovEigValueInflationRatio(double min_covar_eigvalue_mult)</div><div class="ttdoc">Set the minimum allowable ratio between eigenvalues to prevent singular covariance matrices.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:248</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_ac1af39542299266ef3cf8a1d1ca4ea4b"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#ac1af39542299266ef3cf8a1d1ca4ea4b">pcl::VoxelGridCovariance::getMinPointPerVoxel</a></div><div class="ttdeci">int getMinPointPerVoxel()</div><div class="ttdoc">Get the minimum number of points required for a cell to be used.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:239</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_acabc11ab782a3426a9e5bb80c31ca898"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#acabc11ab782a3426a9e5bb80c31ca898">pcl::VoxelGridCovariance::voxel_centroids_leaf_indices_</a></div><div class="ttdeci">std::vector&lt; int &gt; voxel_centroids_leaf_indices_</div><div class="ttdoc">Indices of leaf structurs associated with each point in voxel_centroids_ (used for searching).</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:536</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_accf21aea709481f32a3ab000efde490f"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#accf21aea709481f32a3ab000efde490f">pcl::VoxelGridCovariance::getDisplayCloud</a></div><div class="ttdeci">void getDisplayCloud(pcl::PointCloud&lt; PointXYZ &gt; &amp;cell_cloud)</div><div class="ttdoc">Get a cloud to visualize each voxels normal distribution.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.hpp:409</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_ad940a60fb5c83b07869808c297cebab2"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#ad940a60fb5c83b07869808c297cebab2">pcl::VoxelGridCovariance::getCentroids</a></div><div class="ttdeci">PointCloudPtr getCentroids()</div><div class="ttdoc">Get a pointcloud containing the voxel centroids</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:393</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_ae820b8e9fdb10162508e7390a556b7ea"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#ae820b8e9fdb10162508e7390a556b7ea">pcl::VoxelGridCovariance::leaves_</a></div><div class="ttdeci">std::map&lt; size_t, Leaf &gt; leaves_</div><div class="ttdoc">Voxel structure containing all leaf nodes (includes voxels with less than a sufficient number of poin...</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:530</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_covariance_html_affd4b96b7686ed76c1325aa059cf692f"><div class="ttname"><a href="classpcl_1_1_voxel_grid_covariance.html#affd4b96b7686ed76c1325aa059cf692f">pcl::VoxelGridCovariance::getLeaf</a></div><div class="ttdeci">LeafConstPtr getLeaf(PointT &amp;p)</div><div class="ttdoc">Get the voxel containing point p.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:320</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid</a></div><div class="ttdoc">VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a1789763b2f3b17cce937b9902cfb6175"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a1789763b2f3b17cce937b9902cfb6175">pcl::VoxelGrid::downsample_all_data_</a></div><div class="ttdeci">bool downsample_all_data_</div><div class="ttdoc">Set to true if all fields need to be downsampled, or false if just XYZ.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:463</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a73e0f889875e09c1990ec088af6c82c4"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a73e0f889875e09c1990ec088af6c82c4">pcl::VoxelGrid::save_leaf_layout_</a></div><div class="ttdeci">bool save_leaf_layout_</div><div class="ttdoc">Set to true if leaf layout information needs to be saved in leaf_layout_.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:466</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_aa920d3e9fa0d03643423ade34f6ec986"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">pcl::VoxelGrid::min_b_</a></div><div class="ttdeci">Eigen::Vector4i min_b_</div><div class="ttdoc">The minimum and maximum bin coordinates, the number of divisions, and the division multiplier.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:472</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_ad6e7aa7d90c1b75ab43d38c48dcff799"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">pcl::VoxelGrid::leaf_size_</a></div><div class="ttdeci">Eigen::Vector4f leaf_size_</div><div class="ttdoc">The size of a leaf.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:457</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_aed2cf27b47ad2059be72e03326d4ff00"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">pcl::VoxelGrid::inverse_leaf_size_</a></div><div class="ttdeci">Eigen::Array4f inverse_leaf_size_</div><div class="ttdoc">Internal leaf sizes stored as 1/leaf_size_ for efficiency reasons.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:460</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1_voxel_grid_covariance_1_1_leaf_html"><div class="ttname"><a href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html">pcl::VoxelGridCovariance::Leaf</a></div><div class="ttdoc">Simple structure to hold a centroid, covarince and the number of points in a leaf....</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:94</div></div>
<div class="ttc" id="astructpcl_1_1_voxel_grid_covariance_1_1_leaf_html_a1d375e78ecc706179302f4571f72cf5e"><div class="ttname"><a href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a1d375e78ecc706179302f4571f72cf5e">pcl::VoxelGridCovariance::Leaf::getEvecs</a></div><div class="ttdeci">Eigen::Matrix3d getEvecs() const</div><div class="ttdoc">Get the eigen vectors of the voxel covariance.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:141</div></div>
<div class="ttc" id="astructpcl_1_1_voxel_grid_covariance_1_1_leaf_html_a249ed9fec9f58d966fc92b6b430f92a4"><div class="ttname"><a href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a249ed9fec9f58d966fc92b6b430f92a4">pcl::VoxelGridCovariance::Leaf::nr_points</a></div><div class="ttdeci">int nr_points</div><div class="ttdoc">Number of points contained by voxel</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:166</div></div>
<div class="ttc" id="astructpcl_1_1_voxel_grid_covariance_1_1_leaf_html_a449f5f30f9c5688cd353968672a33967"><div class="ttname"><a href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a449f5f30f9c5688cd353968672a33967">pcl::VoxelGridCovariance::Leaf::mean_</a></div><div class="ttdeci">Eigen::Vector3d mean_</div><div class="ttdoc">3D voxel centroid</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:169</div></div>
<div class="ttc" id="astructpcl_1_1_voxel_grid_covariance_1_1_leaf_html_a4eb7363a5ffdea8d03d0ecb29e8f38c6"><div class="ttname"><a href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a4eb7363a5ffdea8d03d0ecb29e8f38c6">pcl::VoxelGridCovariance::Leaf::icov_</a></div><div class="ttdeci">Eigen::Matrix3d icov_</div><div class="ttdoc">Inverse of voxel covariance matrix</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:180</div></div>
<div class="ttc" id="astructpcl_1_1_voxel_grid_covariance_1_1_leaf_html_a54f413027a70f6c6b5b9fee11491cb8f"><div class="ttname"><a href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a54f413027a70f6c6b5b9fee11491cb8f">pcl::VoxelGridCovariance::Leaf::getCov</a></div><div class="ttdeci">Eigen::Matrix3d getCov() const</div><div class="ttdoc">Get the voxel covariance.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:113</div></div>
<div class="ttc" id="astructpcl_1_1_voxel_grid_covariance_1_1_leaf_html_a5c67f1eb21eec13603ff961f8aaf33c2"><div class="ttname"><a href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a5c67f1eb21eec13603ff961f8aaf33c2">pcl::VoxelGridCovariance::Leaf::getEvals</a></div><div class="ttdeci">Eigen::Vector3d getEvals() const</div><div class="ttdoc">Get the eigen values of the voxel covariance.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:151</div></div>
<div class="ttc" id="astructpcl_1_1_voxel_grid_covariance_1_1_leaf_html_a7163de36e5c92f581b2679e5de2ccf9f"><div class="ttname"><a href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a7163de36e5c92f581b2679e5de2ccf9f">pcl::VoxelGridCovariance::Leaf::centroid</a></div><div class="ttdeci">Eigen::VectorXf centroid</div><div class="ttdoc">Nd voxel centroid</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:174</div></div>
<div class="ttc" id="astructpcl_1_1_voxel_grid_covariance_1_1_leaf_html_a739478612c073535800e0fed394a15a3"><div class="ttname"><a href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a739478612c073535800e0fed394a15a3">pcl::VoxelGridCovariance::Leaf::getInverseCov</a></div><div class="ttdeci">Eigen::Matrix3d getInverseCov() const</div><div class="ttdoc">Get the inverse of the voxel covariance.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:122</div></div>
<div class="ttc" id="astructpcl_1_1_voxel_grid_covariance_1_1_leaf_html_a886049061b877300a4fab9f1b618319c"><div class="ttname"><a href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a886049061b877300a4fab9f1b618319c">pcl::VoxelGridCovariance::Leaf::Leaf</a></div><div class="ttdeci">Leaf()</div><div class="ttdoc">Constructor. Sets nr_points, icov_, mean_ and evals_ to 0 and cov_ and evecs_ to the identity matrix</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:98</div></div>
<div class="ttc" id="astructpcl_1_1_voxel_grid_covariance_1_1_leaf_html_a8befc2802cce61b05fa4f79f31374b70"><div class="ttname"><a href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a8befc2802cce61b05fa4f79f31374b70">pcl::VoxelGridCovariance::Leaf::evals_</a></div><div class="ttdeci">Eigen::Vector3d evals_</div><div class="ttdoc">Eigen values of voxel covariance matrix</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:186</div></div>
<div class="ttc" id="astructpcl_1_1_voxel_grid_covariance_1_1_leaf_html_aa05a0541f45e19383c94d70df692cf7c"><div class="ttname"><a href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#aa05a0541f45e19383c94d70df692cf7c">pcl::VoxelGridCovariance::Leaf::getMean</a></div><div class="ttdeci">Eigen::Vector3d getMean() const</div><div class="ttdoc">Get the voxel centroid.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:131</div></div>
<div class="ttc" id="astructpcl_1_1_voxel_grid_covariance_1_1_leaf_html_ac67ae7009095cfccd297f21196e1b417"><div class="ttname"><a href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#ac67ae7009095cfccd297f21196e1b417">pcl::VoxelGridCovariance::Leaf::getPointCount</a></div><div class="ttdeci">int getPointCount() const</div><div class="ttdoc">Get the number of points contained by this voxel.</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:160</div></div>
<div class="ttc" id="astructpcl_1_1_voxel_grid_covariance_1_1_leaf_html_adbd892d56494c005fc5ab845a09ddca1"><div class="ttname"><a href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#adbd892d56494c005fc5ab845a09ddca1">pcl::VoxelGridCovariance::Leaf::cov_</a></div><div class="ttdeci">Eigen::Matrix3d cov_</div><div class="ttdoc">Voxel covariance matrix</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:177</div></div>
<div class="ttc" id="astructpcl_1_1_voxel_grid_covariance_1_1_leaf_html_af80a8459da43812adf10cfba4c5293ed"><div class="ttname"><a href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#af80a8459da43812adf10cfba4c5293ed">pcl::VoxelGridCovariance::Leaf::evecs_</a></div><div class="ttdeci">Eigen::Matrix3d evecs_</div><div class="ttdoc">Eigen vectors of voxel covariance matrix</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:183</div></div>
<div class="ttc" id="astructpcl_1_1traits_1_1field_list_html"><div class="ttname"><a href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:177</div></div>
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